WO2016031069A1 - レーザ加工機及び数値制御プログラム作成ソフトウェア - Google Patents

レーザ加工機及び数値制御プログラム作成ソフトウェア Download PDF

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Publication number
WO2016031069A1
WO2016031069A1 PCT/JP2014/072814 JP2014072814W WO2016031069A1 WO 2016031069 A1 WO2016031069 A1 WO 2016031069A1 JP 2014072814 W JP2014072814 W JP 2014072814W WO 2016031069 A1 WO2016031069 A1 WO 2016031069A1
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Prior art keywords
workpiece
distance
approach
nozzle
gain
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PCT/JP2014/072814
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English (en)
French (fr)
Japanese (ja)
Inventor
浩子 高田
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to CN201480081568.9A priority Critical patent/CN106794552B/zh
Priority to DE112014006909.4T priority patent/DE112014006909B4/de
Priority to JP2015537857A priority patent/JP5881912B1/ja
Priority to US15/323,500 priority patent/US10035218B2/en
Priority to PCT/JP2014/072814 priority patent/WO2016031069A1/ja
Publication of WO2016031069A1 publication Critical patent/WO2016031069A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/046—Automatically focusing the laser beam
    • B23K26/048—Automatically focusing the laser beam by controlling the distance between laser head and workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0892—Controlling the laser beam travel length
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/27—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device
    • G05B19/29—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for point-to-point control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/18—Sheet panels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36199—Laser cutting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50049—Control machine as function of position, angle of workpiece

Definitions

  • the present invention relates to a laser beam machine and numerical control program creation software.
  • the movement of the machining head that has moved to the machining position closer to the workpiece is called the approach movement.
  • the approach operation by monitoring the electrostatic scanning voltage that changes in accordance with the distance between the nozzle provided on the machining head and the workpiece, the nozzle is positioned at a first distance from the workpiece. To do.
  • the machining per control cycle is performed as the distance from the workpiece decreases.
  • the machining head can be positioned with high accuracy at a position where the nozzle is separated from the workpiece by a first distance.
  • the approach speed, and the amount of movement per cycle after the distance between the nozzle and the work is less than the second distance
  • the magnification used is called gain.
  • the detection range of the electrostatic scanning voltage is fixed to a circular area having a constant size centered on the machining head. Accordingly, when an approach operation is performed at the peripheral edge of the workpiece, the workpiece is present only in a part of the detection range. In the state where the workpiece exists only in a part of the detection range, even if the distance between the machining head and the workpiece is the same, the electrostatic copying is compared with the case where the approach operation is performed at the center of the workpiece. The voltage becomes smaller. Therefore, if the approach operation is performed at the peripheral edge of the work with the same approach speed and gain, the machining head is positioned with the distance between the nozzle and the work smaller than the first distance, and overshoot occurs. Then, the nozzle collides with the workpiece. When the nozzle collides with the workpiece, it is necessary to move the machining head once away from the workpiece and then close to the workpiece again, so that the approach operation takes time.
  • Patent Document 1 A technique aimed at preventing overshoot during approach operation is disclosed in Patent Document 1.
  • Patent Document 1 obtains a position deviation amount that is a difference between a position command and an actual servo motor position in order to avoid a collision of a nozzle with a workpiece due to overshoot, and based on the position deviation amount.
  • the position gain is changed to the corrected position gain.
  • the machining head In the approach operation, it is desirable to move the machining head as fast as possible in order to increase production efficiency.
  • the distance between the machining head and the workpiece can be accurately detected based on the electrostatic scanning voltage, so even if the machining head is moved quickly, the nozzle collides with the workpiece due to overshoot. It is hard to happen.
  • the invention disclosed in Patent Document 1 performs the same approach operation regardless of whether the place where the approach operation is performed is the non-peripheral portion or the peripheral portion of the workpiece. Therefore, in the invention disclosed in Patent Document 1, when the approach operation is performed under the condition that the collision between the nozzle and the workpiece does not occur, the approach operation takes more time than necessary at the non-peripheral portion of the workpiece. Further improvement in production efficiency is desired.
  • the present invention has been made in view of the above, and is required when the approach operation is performed at the non-periphery portion of the workpiece while preventing the nozzle and the workpiece from colliding with each other at the peripheral portion of the workpiece.
  • the purpose is to make the time shorter than the time required for the approach operation at the peripheral edge of the workpiece.
  • the present invention performs an approach operation in which a machining head provided with a nozzle is brought close to a workpiece and the distance between the nozzle and the workpiece is set as a first distance.
  • a laser processing machine that emits a laser oscillated by a laser oscillator from a nozzle to a workpiece at a first distance from the workpiece and cuts a part from the workpiece, a sensor for measuring a distance between the nozzle and the workpiece, a nozzle, When the distance between the workpiece and the workpiece is greater than or equal to the second distance that is greater than the first distance, the processing head is brought closer to the workpiece at the approach speed, and one control cycle occurs when the distance between the nozzle and the workpiece is less than or equal to the second distance.
  • the amount of movement of the processing head per contact is made smaller than that at the approach speed based on the gain, and the processing head is moved until the distance between the nozzle and the workpiece becomes the first distance.
  • a height control unit that performs an approach operation by approaching to the height control unit, and the height control unit is configured to perform a first approach operation when the approach operation is performed at a non-peripheral portion of the workpiece where the workpiece exists in the entire detection range of the sensor.
  • the approach operation is performed at the peripheral edge of the workpiece where the workpiece exists in a part of the detection range using the approach speed and the first gain of the second approach velocity and the first gain smaller than the first approach velocity.
  • a second gain smaller than the gain is used.
  • the laser beam machine according to the present invention prevents the collision between the nozzle and the workpiece when the approach operation is performed at the peripheral portion of the workpiece, and the time required for performing the approach operation at the non-peripheral portion of the workpiece is the peripheral portion of the workpiece.
  • the effect is that it can be made shorter than the time required for the approach operation.
  • Configuration diagram of laser beam machine according to Embodiment 1 of the present invention Schematic diagram showing workpieces included in the detection range of the distance sensor when approaching at the non-periphery of the workpiece
  • Explanatory drawing showing the amount of movement of the machining head per control cycle
  • Explanatory drawing showing the amount of movement of the machining head per control cycle
  • Schematic diagram showing an example of processing head height correction Flow chart showing the flow of operations during laser processing
  • Conceptual diagram showing an example of the measurement position of the machine coordinate position of the outline of the workpiece
  • Conceptual diagram showing an example of measuring the dimensions of a workpiece outline
  • Explanatory drawing showing the amount of movement of the machining head per control cycle
  • Configuration diagram of laser beam machine according to Embodiment 3 of the present invention Schematic diagram showing an example of a processed area Flow
  • FIG. 1 is a configuration diagram of a laser beam machine according to Embodiment 1 of the present invention.
  • the laser processing machine 100 includes a numerical control unit 10, a sensor data processing unit 18, a distance sensor 19, an X servo control unit 20, a Y servo control unit 21, a Z servo control unit 22, an X servo motor 23, a Y servo motor 24, and a Z A servo motor 25 and a laser oscillator 26 are provided.
  • the numerical control unit 10 includes a main control unit 13, a processing machine control unit 14, a position control unit 15, and a height control unit 17.
  • the main control unit 13 controls the overall operation of the laser processing machine 100.
  • the processing machine control unit 14 sends a command to the laser transmitter 26 to control on / off of the laser.
  • the position control unit 15 and the height control unit 17 output position commands in the XYZ axis directions to the X servo control unit 20, the Y servo control unit 21, and the Z servo control unit 22.
  • the distance sensor 19 is a capacitance type sensor, and measures an electrostatic scanning voltage that is a voltage value corresponding to the capacitance between the nozzle 28 and the workpiece 12.
  • the sensor data processing unit 18 takes in the voltage value from the distance sensor 19 and calculates the distance L between the nozzle 28 and the workpiece 12.
  • the distance sensor 19 and the sensor data processing unit 18 constitute a sensor that measures the distance between the nozzle 28 and the workpiece 12.
  • the X servo control unit 20 outputs the movement amount in the X axis direction to the X servo motor 23 and moves the machining head 7 along the X axis.
  • the Y servo control unit 21 outputs the amount of movement in the Y axis direction to the Y servo motor 24, and moves the machining head 7 along the Y axis.
  • the Z servo control unit 22 outputs the amount of movement in the Z-axis direction to the Z servo motor 25 and moves the machining head 7 along the Z axis.
  • the X servo motor 23, the Y servo motor 24, and the Z servo motor 25 have a position detector for each axis of XYZ, and are input from the X servo control unit 20, the Y servo control unit 21, or the Z servo control unit 22.
  • the machining head 7 is moved according to the movement amount of each axis of XYZ.
  • the laser oscillator 26 turns on and off the laser beam used for processing the workpiece 12 based on a command from the processing machine control unit 14.
  • the main control unit 13 analyzes a numerical control program for laser processing, and gives information corresponding to the command content of the program to the processing machine control unit 14, the position control unit 15, and the height control unit 17.
  • the main control unit 13 gives a command to the processing machine control unit 14.
  • a specific example of a command for the laser oscillator 26 is turning on and off the laser beam.
  • a signal from the laser oscillator 26 is transmitted to the main control unit 13 via the processing machine control unit 14. Therefore, the numerical control unit 10 can know the status of the laser oscillator 26.
  • the main control unit 13 gives the position control unit 15 information on the moving position and moving speed.
  • the position control unit 15 calculates the movement distance based on the given information, distributes the movement distance to the X and Y axes, and outputs the movement amount to the X servo control unit 20 and the Y servo control unit 21.
  • the position control unit 15 also manages the actual position of the machining head 7 based on the output movement position and information from the X servo control unit 20 and the Y servo control unit 21.
  • the X servo control unit 20 and the Y servo control unit 21 drive the X servo motor 23 and the Y servo motor 24 to move the machining head 7 relative to the workpiece 12.
  • Laser machining is performed by moving the machining head 7 in a state where a laser is emitted from the nozzle 28 in accordance with an instruction of a numerical control program. Further, the position control unit 15 informs the main control unit 13 of information on the movement position, the movement amount, and the remaining movement distance.
  • the main control unit 13 gives command information to the height control unit 17.
  • the height control unit 17 executes a trace function that keeps the distance between the nozzle 28 and the workpiece 12 at the first distance.
  • the height control unit 17 compares the information on the distance L input from the sensor data processing unit 18 with the preset first distance, and eliminates the difference by using the Z-axis servo. The movement amount is output to the control unit 22.
  • the Z servo control unit 22 drives the Z servo motor 25 to move the machining head 7 up and down.
  • the distance sensor 19 outputs sensor data corresponding to the distance L between the nozzle 28 and the workpiece 12, and the sensor data is fed back to the height control unit 17 via the sensor data processing unit 18.
  • the sensor data changes.
  • the height control unit 17 informs the main control unit 13 of trace status information.
  • the main control unit 13 gives the height control unit 17 information on the approach speed and nozzle height.
  • the height control unit 17 calculates the movement distance based on the given information, and outputs an amount of movement in the Z-axis direction to the Z servo control unit 22 when commanded to execute the approach operation.
  • the Z servo control unit 22 drives the Z servo motor 25 based on the movement amount in the Z-axis direction given from the height control unit 17 to move the machining head 7 downward.
  • the distance sensor 19 outputs sensor data corresponding to the distance L between the nozzle 28 and the workpiece 12, and the sensor data is fed back to the height control unit 17 via the sensor data processing unit 18. Based on the sensor data fed back from the sensor data processing unit 18, the height control unit 17 lowers the machining head 7 until the distance L between the nozzle 28 and the workpiece 12 becomes the first distance.
  • the height control unit 17 receives the measurement result of the distance L between the nozzle 28 and the work 12 from the sensor data processing unit 18, and the nozzle 28 moves to the second distance larger than the first distance.
  • the amount of movement of the machining head 7 per control cycle is reduced. Thereby, even when the first distance is smaller than the moving amount of the machining head 7 per control cycle when the machining head 7 is moved at the approach speed, the nozzle 28 is separated from the workpiece 12 by the first distance.
  • the processing head 7 can be stopped.
  • approach speed and gain which are parameters for executing the approach operation, are set in the laser processing machine 100.
  • the approach speed is a moving speed at which the machining head 7 approaches the workpiece 12.
  • the gain is a magnification of the moving amount per control cycle when the machining head 7 is decelerated after the nozzle 28 approaches the workpiece 12 to the second distance.
  • both the approach speed and the gain are set to values smaller than those when the approach operation is performed at the non-peripheral portion of the work 12. That is, the height control unit 17 uses the first approach speed and the first gain when the approach operation is performed at the non-peripheral portion of the work 12, and when the approach operation is performed at the peripheral portion of the work 12, A second approach speed smaller than the first approach speed and a second gain smaller than the first gain are used.
  • FIG. 2 is a schematic diagram illustrating a workpiece included in the detection range of the distance sensor when an approach operation is performed at a non-peripheral portion of the workpiece. Since the workpiece 12 exists in the entire detection range 19a of the distance sensor 19, the electrostatic scanning voltage corresponding to the capacitance generated between the workpiece 12 and the nozzle 28 corresponding to the area of the detection range is a distance sensor. 19 is detected.
  • FIG. 3 is a schematic diagram showing a workpiece included in the detection range of the distance sensor when an approach operation is performed at the peripheral edge of the workpiece.
  • the approach operation is performed around the side of the workpiece 12
  • the workpiece 12 exists only in half of the detection range 19 a of the distance sensor 19. Therefore, if the distance between the nozzle 28 and the workpiece 12 is the same, the capacitance generated between the nozzle 28 and the workpiece 12 is halved. Therefore, when an approach operation is performed around the side of the workpiece 12, the actual distance between the nozzle 28 and the workpiece 12 is half of the distance detected by the sensor data processing unit 18 based on the sensor data of the distance sensor 19. Become.
  • the approach operation at the periphery of the side of the workpiece 12 has been described as an example.
  • the actual distance between the nozzle 28 and the workpiece 12 is the distance.
  • the distance is a quarter of the distance detected by the sensor data processing unit 18 based on the sensor data of the sensor 19.
  • the actual distance between the nozzle 28 and the workpiece 12 is determined based on the sensor data of the distance sensor 19. The distance is smaller than the distance detected by the data processing unit 18.
  • FIG. 4 is an explanatory diagram showing the amount of movement of the machining head 7 per control cycle.
  • the amount of movement is shown.
  • the control cycle of the laser beam machine 100 is 0.0050 seconds.
  • the second distance is set to 10 mm, and when the distance between the nozzle 28 and the workpiece 12 becomes less than 10 mm, the height control unit 17 sets the moving speed of the machining head 7 per control cycle. change.
  • the way of viewing FIG. 4 will be described by taking as an example the case where the distance between the nozzle 28 and the workpiece 12 is 3 mm or more and less than 4 mm.
  • the machining head 7 moves at an approach speed, that is, at a speed of 20 m / min. Accordingly, when the distance between the nozzle 28 and the workpiece 12 is 10 mm or more, the moving amount of the machining head 7 per control cycle is 1.67 mm.
  • the height control unit 17 performs processing when the sensor data processing unit 18 detects that the distance L between the nozzle 28 and the workpiece 12 is less than 10 mm, which is the second distance, based on the sensor data of the distance sensor 19. Deceleration control of the moving speed of the head 7 is started. However, when the gain is 1.0, the movement amount of the machining head 7 per control cycle when the distance L between the nozzle 28 and the workpiece 12 is 9 mm or more and less than 10 mm is that the distance between the nozzle 28 and the workpiece 12 is 10 mm. Since it is the same as the above case, actually, the moving speed of the machining head 7 changes when the distance L between the nozzle 28 and the workpiece 12 becomes less than 9 mm.
  • a tracking delay occurs with respect to a position command in a servo motor. Accordingly, a follow-up delay occurs with respect to the position command also in the Z servo motor 25 that drives the machining head 7 in the Z direction.
  • the movement amount of the machining head 7 per control cycle is a little over one sixth of the distance L between the nozzle 28 and the workpiece 12. Therefore, if the follow-up delay of the Z servo motor 25 with respect to the position command is 5 control cycles or less, the nozzle 28 does not collide with the workpiece 12 even if the machining head 7 overshoots.
  • the distance L between the nozzle 28 and the workpiece 12 can be accurately detected by the distance sensor 19 and the sensor data processing unit 18. Therefore, when the approach operation is performed at the non-peripheral portion of the workpiece 12 under the condition that the approach speed is 20 m / min and the gain is 1.0, the follow-up delay of the Z servo motor 25 with respect to the position command is 5 control cycles. In the following overshoot, the nozzle 28 does not collide with the workpiece 12.
  • the distance L between the nozzle 28 and the workpiece 12 is half of the distance detected by the sensor data processing unit 18 based on the sensor data of the distance sensor 19. . Therefore, when the approach operation is performed around the side of the workpiece 12, the height control unit 17 sets the moving speed of the machining head 7 when the distance L between the nozzle 28 and the workpiece 12 becomes less than 4.5 mm. It will slow down.
  • the approach operation is performed under the condition that the approach speed is 20 m / min and the gain is 1.0
  • both the approach speed and the gain are made smaller than when the approach operation is performed at the non-peripheral portion of the work 12.
  • both the approach speed and the gain are set to small values compared with values used in the approach operation at the non-peripheral portion.
  • FIG. 5 is an explanatory diagram showing the amount of movement of the machining head 7 per control cycle.
  • the amount of movement is shown.
  • the control cycle of the laser processing machine 100 is 0.0050 seconds.
  • the machining head 7 moves 0.83 mm per control cycle immediately before the movement speed of the machining head 7 starts decelerating, so the follow-up delay of the Z servo motor 25 is an overshoot with 10 control cycles or less. If present, the nozzle 28 does not collide with the workpiece 12.
  • the approach speed is 10 m / min and the gain is 0.5
  • the amount of movement of the machining head 7 per control cycle when the distance L between the nozzle 28 and the workpiece 12 is 1 mm or more and less than 2 mm is 0. Therefore, if the first distance is 1 mm, positioning can be performed with an accuracy of 0.083 mm.
  • the distance between the nozzle 28 and the work 12 becomes smaller than the target distance. Therefore, when the approach operation is performed at the peripheral edge of the workpiece 12, the distance L between the nozzle 28 and the workpiece 12 is corrected by raising the machining head 7 last.
  • the distance detected by the sensor data processing unit 18 based on the sensor data of the distance sensor 19 is the actual distance. Double the distance. Therefore, when the machining head 7 is moved until the distance L between the nozzle 28 and the workpiece 12 becomes the first distance, the machining head 7 has the distance L between the nozzle 28 and the workpiece 12 half of the first distance. Stop at the position. Therefore, the distance L between the nozzle 28 and the workpiece 12 is set to the first distance by raising the machining head 7 by 1 ⁇ 2 of the first distance at the end of the approach operation.
  • FIG. 6 is a schematic diagram showing an example of the height correction of the machining head.
  • the first distance is H.
  • the approach is performed.
  • a correction operation for raising the machining head 7 by 1/2 of the first distance H is performed.
  • the corrected distance between the nozzle 28 and the workpiece 12 becomes the first distance H.
  • the distance detected by the sensor data processing unit 18 based on the sensor data of the distance sensor 19 is the actual distance. 4 times. Therefore, when the machining head 7 is moved until the distance L between the nozzle 28 and the workpiece 12 becomes the first distance, the machining head 7 has a distance L between the nozzle 28 and the workpiece 12 of 4 which is the first distance. Stop at a position that is a minute. Therefore, the distance L between the nozzle 28 and the workpiece 12 is set to the first distance by raising the machining head 7 by 3/4 of the first distance at the end of the approach operation.
  • a correction operation for raising the machining head 7 based on the ratio of the workpiece 12 included in the detection range 19a of the distance sensor 19 is performed, so that the nozzle 28 and the workpiece 12 are also approached at the peripheral portion of the workpiece 12.
  • the machining head 7 can be positioned in a state where the distance to the first distance is the first distance.
  • FIG. 7 is a flowchart showing the flow of operations during laser processing. Note that the series of operations in the flowchart shown in FIG. 7 is based on the assumption that the workpiece 12 has a rectangular shape.
  • the peripheral size is a value smaller than the diameter of the detection range 19a of the distance sensor 19, and is set to the same value as the radius of the detection range 19a of the distance sensor 19, for example.
  • the workpiece 12 exists in a part of the detection range 19a of the distance sensor 19 at the peripheral portion of the workpiece 12, and the workpiece 12 exists in the entire detection range 19a of the distance sensor 19 at the non-peripheral portion of the workpiece 12.
  • the radius of the detection range of the distance sensor 19 is 10 mm and the peripheral edge size is set to 10 mm.
  • the main control unit 13 calculates the inclination of the workpiece 12 in the XY plane by measuring the three machine coordinate positions on the outline of the workpiece 12 (step S101). Since the workpiece 12 has a rectangular shape, the inclination in the XY plane can be calculated by measuring three points on two adjacent sides.
  • FIG. 8 is a conceptual diagram showing an example of the measurement position of the machine coordinate position of the outline of the workpiece. In the example shown in FIG. 8, the machine coordinate positions of points P1 and P2 on the long side of the work 12 and point P3 on the short side are measured.
  • the machine coordinate position is a mechanical coordinate position of the laser processing machine 100 indicated by a command to the X servo motor 23 and the Y servo motor 24.
  • the main control unit 13 performs processing while correcting the inclination of the workpiece 12 in the XY plane.
  • FIG. 9 is a conceptual diagram showing an example of the dimension measurement of the outline of the workpiece. As shown in FIG. 9, since the workpiece 12 has a rectangular shape, the vertical and horizontal dimensions can be measured. When measuring the dimensions of the workpiece 12, the inclination of the workpiece 12 in the XY plane calculated in step S101 is corrected, and the actual vertical and horizontal dimensions of the workpiece 12 are measured.
  • FIG. 10 is a schematic diagram illustrating an example of a boundary between a non-peripheral part and a peripheral part.
  • the peripheral portion size is set to 10 mm
  • the outer peripheral portion 251 that is a frame-like region of 10 mm from the outer shape of the work 12 becomes the peripheral portion, and is a rectangular region excluding the outer peripheral portion 251.
  • the central part 252 is a non-peripheral part.
  • the main control unit 13 moves the machining head 7 to the machining start position in accordance with the machining head movement command in the numerical control program (step S103).
  • the main control unit 13 executes an approach command in the numerical control program (step S104).
  • the main control unit 13 determines whether or not the position where the machining head 7 is stopped is the peripheral edge of the workpiece 12 (step S105). That is, it is determined whether or not the machining head 7 is stopped at the outer peripheral portion 251 of the workpiece 12. If the position at which the machining head 7 is stopped is the peripheral edge of the workpiece 12 (step S105 / Yes), the height controller 17 approaches using the peripheral parameters based on the command from the main controller 13. The operation is executed (step S106).
  • the approach speed 10 m / min
  • the gain 0.5
  • the processing head 7 is brought close to the work 12
  • the processing head 7 is raised to set the distance L between the nozzle 28 and the work 12 as the first distance.
  • the main control unit 13 After positioning the machining head 7 in a state where the distance L between the nozzle 28 and the workpiece 12 is the first distance, the main control unit 13 performs laser machining on the component according to the numerical control program (step S108). Laser processing is performed by moving the processing head 7 in the XY plane with the laser turned on.
  • step S109 When the laser processing for one part is completed and the laser is turned off, the main control unit 13 raises the processing head 7 according to the numerical control program (step S109). When all the parts have been processed (step S110 / Yes), the laser processing on the workpiece 12 is terminated. If all the parts have not been processed (step S110 / No), the main control unit 13 moves the processing head 7 to the processing start position of the part to be processed next in accordance with the processing head movement command in the numerical control program ( Step S111). After step S111, the process proceeds to step S104, and an approach command is executed.
  • the laser beam machine 100 changes the approach speed and gain depending on whether the approach operation is performed at the peripheral edge of the workpiece 12 or the non-peripheral edge. Specifically, when the approach operation is performed at the non-peripheral portion of the work 12, the first approach speed and the first gain are used, and when the approach operation is performed at the peripheral portion of the work 12, the first approach is performed. A second approach speed smaller than the speed and a second gain smaller than the first gain are used. Accordingly, the nozzle 28 can be prevented from colliding with the work 12 when approaching the peripheral edge of the work 12, and the machining head can be used more than when approaching the peripheral edge when approaching the non-peripheral edge of the work 12. 7 can be moved at high speed, and the time required for the approach operation can be made shorter than when the approach operation is performed at the peripheral portion.
  • the parts can be cut out from the peripheral edge of the work 12, the use efficiency of the work 12 can be improved.
  • FIG. 2 The apparatus configuration of the laser beam machine according to Embodiment 2 of the present invention is the same as that of Embodiment 1.
  • the height control unit 17 when the approach operation is performed at the non-peripheral portion of the workpiece 12, the height control unit 17 includes the first approach speed and the parameters for the approach operation at the non-peripheral portion of the workpiece 12.
  • the first gain is used and the approach operation is performed at the peripheral portion of the work 12
  • the second approach speed and the first gain which are parameters for the approach operation at the peripheral portion of the work 12 are used. That is, the height control unit 17 uses the first gain regardless of whether the approach operation is performed at the peripheral portion of the work 12 or the non-peripheral operation of the work 12.
  • the second approach speed is smaller than the first approach speed.
  • FIG. 11 is an explanatory diagram showing the amount of movement of the machining head 7 per control cycle.
  • the amount of movement is shown.
  • the control cycle of the laser beam machine 100 is 0.0050 seconds.
  • the amount of movement of the machining head 7 per control cycle after the distance L between the nozzle 28 and the workpiece 12 detected by the sensor data processing unit 18 based on the sensor data of the distance sensor 19 is less than 9 mm is shown in FIG.
  • the nozzle 28 is moved to the work 12 by overshoot even if only the approach speed is reduced as compared with the case where the approach operation is performed at the non-peripheral portion of the work 12. It can be prevented from colliding.
  • the time until the machining head 7 reaches the position where the distance L between the nozzle 28 and the workpiece 12 becomes the second distance becomes longer.
  • the approach speed is 5 m / min and the gain is 1.0
  • the movement amount of the machining head 7 per control cycle when the distance L between the nozzle 28 and the workpiece 12 is 10 mm or more is 0. .42 mm
  • the speed is double that of 10 m / min and the gain is 0.5.
  • the effect of preventing the collision between the nozzle 28 and the workpiece 12 due to overshooting can be obtained.
  • the approach speed and gain are reduced.
  • the approach operation when the approach operation is performed at the peripheral portion of the work 12, only the approach speed is reduced as compared with the case where the approach operation is performed at the non-peripheral portion of the work 12, but only the gain is given. Can be reduced.
  • the height control unit 17 when performing the approach operation at the non-peripheral portion of the workpiece 12, has the first approach speed and the parameters for the approach operation at the non-peripheral portion of the workpiece 12.
  • the first approach speed and the second gain which are parameters for the approach operation at the peripheral portion of the work 12, are used.
  • the height control unit 17 uses the first approach speed regardless of whether the approach operation is performed at the peripheral edge of the work 12 or the non-peripheral operation of the work 12.
  • the second gain is smaller than the first gain.
  • FIG. 12 is an explanatory diagram showing the amount of movement of the machining head 7 per control cycle.
  • the follow-up delay of the Z servo motor 25 is taken into consideration when only the gain is reduced as compared with the case where the approach operation is performed at the non-peripheral portion of the work 12.
  • the second distance is preferably set so that the nozzle 28 does not collide with the workpiece 12 even if overshoot occurs.
  • the laser beam machine 100 changes the approach speed or gain depending on whether the approach operation is performed at the peripheral portion of the workpiece 12 or the non-peripheral portion. Specifically, when the approach operation is performed at the non-peripheral portion of the work 12, the first approach speed and the first gain are used, and when the approach operation is performed at the peripheral portion of the work 12, the first approach is performed. A second approach speed and a first gain smaller than the speed are used, or a second gain smaller than the first approach speed and the first gain is used. Accordingly, the nozzle 28 can be prevented from colliding with the work 12 when approaching the peripheral edge of the work 12, and the machining head can be used more than when approaching the peripheral edge when approaching the non-peripheral edge of the work 12. 7 can be moved at high speed, and the time required for the approach operation can be made shorter than when the approach operation is performed at the peripheral portion.
  • FIG. 13 is a configuration diagram of a laser beam machine according to Embodiment 3 of the present invention. Portions common to the first embodiment are denoted by the same reference numerals and description thereof is omitted.
  • the laser beam machine 110 according to the third embodiment further includes a processed area storage unit 29 as compared with the laser beam machine 100 according to the first embodiment.
  • the parameter for the peripheral portion is set.
  • the approach operation is performed using the second approach speed and the second gain.
  • the processed area is an area where laser processing is performed to cut out a part, and is a rectangular area including an area obtained by enlarging the part shape in the XY direction by the peripheral edge size.
  • FIG. 14 is a schematic diagram illustrating an example of a processed area. A portion surrounded by a broken line in FIG. Regardless of the shape and orientation of the part cut out by laser processing, the processed region 300 has a rectangular shape with sides extending in the same direction as the vertical and horizontal directions of the workpiece 12. That is, not only around the portion where the rectangular part 301 having a side parallel to the side of the work 12 is cut out, but also the triangular part 302 and the rectangular part 303 having a side that is not parallel to the side of the work 12. Also about the periphery of the cut-out portion, the processed region 300 is set in a rectangular shape whose side extends in the same direction as the vertical and horizontal directions of the workpiece 12.
  • the processed area information is information indicating the position of the processed area 300 on the workpiece 12.
  • FIG. 15 is a flowchart showing the flow of operations during laser processing. Compared to the first embodiment, a process (step S121) of storing processed area information in the processed area storage unit 29 is added between step S108 and step S109.
  • the height control unit 17 stops the processing head 7 in the process in step S105. If the position is included in the processed region in which information is stored in the processed region storage unit 29 in the processing in step S121, it is determined that the approach operation is performed on the peripheral portion of the workpiece 12, and the parameter for the peripheral portion is the first. An approach operation is performed using an approach speed of 2 and a second gain. Therefore, it is possible to prevent the nozzle 28 from colliding with the workpiece 12 when the approach operation is performed in the processed region 300. Thereby, the space
  • FIG. 16 is a schematic diagram illustrating an example of a region in which an approach operation is performed using the peripheral parameters.
  • the height control unit 17 regards the processed region 300 as a peripheral portion in addition to the outer peripheral portion 251 of the workpiece 12 and performs an approach operation using the second approach speed and the second gain. Since the height control unit 17 includes the part 253 from which the part has fallen off by laser processing in the processed region 300, the part 253 from which the part has fallen out is also regarded as the peripheral part of the workpiece. If properly created, the approach operation is not performed on the part 253 from which the part has fallen out. Therefore, even if the height control unit 17 regards the part 253 from which the part has fallen off as the peripheral part of the work 12, it is inconvenient. It does not occur.
  • the approach speed and gain are compared with the case where the approach operation is performed at the non-peripheral portion of the work 12.
  • the example which made both of small was given.
  • FIG. 17 is a configuration diagram of a numerical control program creation device according to Embodiment 4 of the present invention.
  • the numerical control program creation device 200 is configured by the computer 210 executing the numerical control program creation software 220.
  • the computer 210 executing the numerical control program creation software 220 is the numerical control program creation device 200.
  • FIG. 18 is a configuration diagram of a computer applied to the numerical control program creation device.
  • the computer 210 includes a CPU (Central Processing Unit) 211, a storage unit 212, an input unit 213, a display unit 214, and a communication interface 215.
  • the CPU 211 executes the numerical control program creating software 220, a plurality of functional units are configured on the computer 210.
  • the storage unit 212 stores information necessary for creating the numerical control program. Information necessary for creating the numerical control program will be described later.
  • the input unit 213 is an input device, and a keyboard and a mouse can be given as specific examples.
  • the display unit 214 is a display device, and a liquid crystal display device can be given as a specific example.
  • the communication interface 215 is an interface for communicating with the laser processing machine 120.
  • the laser processing machine 120 may be a general apparatus configuration that does not include special components.
  • FIG. 19 is a functional configuration diagram of the numerical control program creation device.
  • An editor unit 111 and a numerical control program creating unit 112 are formed on the CPU 211.
  • the editor unit 111 causes the display unit 214 to display an editor screen for inputting information necessary for creating the numerical control program, that is, the shape and size of the workpiece 12, the peripheral edge size, and the machining path information.
  • the editor unit 111 causes the storage unit 212 to store the workpiece shape and size information 121, the peripheral edge size 122 information, and the machining path information 123 input by an operation on the input unit 213.
  • the storage unit 212 stores commands 124 that can be used in the numerical control program.
  • the numerical control program creation unit 112 creates a numerical control program based on the information stored in the storage unit 212.
  • the numerical control program created by the numerical control program creation unit 112 is transferred to the laser processing machine 120 through the communication interface 215.
  • FIG. 20 is a flowchart showing a flow of operations of the numerical control program creation device.
  • the editor unit 111 displays a screen requesting input of the shape and size of the workpiece 12 on the display unit 214, and stores information 121 on the shape and size of the workpiece input by an operation on the input unit 213.
  • the data is stored in 212 (step S201).
  • the editor unit 111 causes the display unit 214 to display a screen requesting input of the peripheral edge size, and stores information on the peripheral edge size 122 input by the operation on the input unit 213 in the storage unit 212 (step S202). ).
  • the editor unit 111 causes the display unit 214 to display a screen for requesting input of a machining path, and causes the storage unit 212 to store information on the machining path 123 input by an operation on the input unit 213 (step S203).
  • the numerical control program creating unit 112 creates a numerical control program command based on the workpiece shape and size information 121, the peripheral edge size 122 information, and the machining path information 123 stored in the storage unit 212 ( Step S204).
  • the numerical control program creating unit 112 determines whether the created command is an approach command (step S205). If the command to be created is not an approach command (step S205 / No), the command is created using the command corresponding to the operation among the commands 124 registered in the storage unit 212 (step S206). When the command to be created is an approach command (step S205 / Yes), the numerical control program creating unit 112 determines whether the command is an approach command at the peripheral edge of the workpiece 12 (step S207).
  • the numerical control program creating unit 112 uses the approach command for the peripheral part among the commands 124 stored in the storage unit 212 to approach the command. Is created (step S208). If it is an approach command at the non-peripheral portion of the workpiece 12 (step S207 / No), the numerical control program creating unit 112 creates an approach command using the approach command for the non-peripheral portion (step S209).
  • step S210 the numerical control program creation unit 112 determines whether the numerical control program has been created until the end of machining based on the machining path information 123 stored in the storage unit 212 (step S210). . If the numerical control program has been created until the end of machining (step S210 / Yes), the process is terminated. If the numerical control program has not been created until the end of machining (step S210 / No), the process proceeds to step S204 to continue creating the numerical control program.
  • FIG. 21 is a schematic diagram showing an example of a machining path.
  • the machining head 7 is moved to the A position which is the machining start position, the machining head 7 is moved to the B position located at the peripheral edge of the workpiece 12, and the approach operation is performed at the B position. Parts are cut out by laser processing.
  • the machining head 7 is raised and moved to the C position located at the non-peripheral portion of the workpiece 12, an approach operation is performed at the C position, and the part is cut out by laser machining.
  • the processing head 7 is raised to move the processing head 7 to the D position located in the processed region of the part, the approach operation is performed at the D position, and the part is cut out by laser processing.
  • the approach operation at the B position is the approach operation at the peripheral edge of the workpiece 12.
  • the creation unit 112 creates an approach command using a command for the peripheral portion. Since the approach operation at the C position is an approach operation at the non-peripheral portion of the work 12, an approach command is created using a command for the non-peripheral portion. Since the approach operation at the D position is an approach operation in the processed area, it is regarded as an approach command at the peripheral portion, and an approach command is created using a command for the peripheral portion.
  • FIG. 22 is an explanatory diagram showing an example of the numerical control program created by the numerical control program creation unit, and is located at the non-peripheral portion of the workpiece 12 which is a numerical control program for performing laser machining according to the machining path shown in FIG.
  • the command “M198” is used for the approach command at the C position
  • “M200” is used for the approach command at the B position located at the peripheral edge of the workpiece 12 and the D position located at the processed region.
  • the command is used.
  • the laser processing machine 120 when executing the numerical control program, performs the approach operation at the first approach speed and the first gain when processing the command M198, and processes the command M200. Can perform the approach operation at the second approach speed and the second gain. That is.
  • the laser processing machine 120 need only change the approach speed and gain based on the type of command used in the approach command.
  • the numerical control program creation device creates an approach command using the first approach speed and the first gain when the approach operation is performed at the non-peripheral part of the work 12, and the peripheral part of the work 12
  • an approach command using a second approach speed smaller than the first approach speed and a second gain smaller than the first gain is generated. Therefore, the laser beam machine 120 can change the approach speed and gain between the peripheral portion and the non-peripheral portion of the workpiece 12 only by executing the numerical control program.

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